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fix(nao6): use joint angles for gestures instead of animation markup

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- Change open_hand_wave, show_sole, present_object, think to use /joint_angles
- Change play_animation to Say Phrase with animated speech
- Animation ^start() markup doesn't work with ALTextToSpeech
- Joint angles work reliably with ALMotion
This commit is contained in:
Sean O'Connor
2026-04-01 17:06:03 -04:00
parent b9be426805
commit 442be9f6c6
1 changed files with 58 additions and 52 deletions
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plugins/nao6-ros2.json
+58 -52
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@@ -1496,45 +1496,35 @@
},
{
"id": "play_animation",
"name": "Play Animation",
"description": "Play a predefined NAO animation/gesture",
"category": "movement",
"icon": "play",
"name": "Say Phrase",
"description": "Say a phrase with animated speech",
"category": "interaction",
"icon": "message-circle",
"timeout": 5000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"animation": {
"type": "string",
"enum": [
"Hey_1",
"Happy_1",
"Happy_4",
"Enthusiastic_1",
"Yes_1",
"Yes_2",
"No_1",
"Blow_1",
"Gesture_Ok_1",
"Gesture_Nice_1",
"Gesture_You_1",
"Open_1",
"ShowSole_1",
"Show_1"
],
"default": "Hey_1",
"description": "Animation to play"
"text": {
"type": "string",
"default": "Hello!",
"description": "Text to say"
},
"emotion": {
"type": "string",
"enum": ["neutral", "happy", "sad", "excited", "calm"],
"default": "neutral",
"description": "Speech emotion"
}
},
"required": ["animation"]
"required": ["text"]
},
"ros2": {
"messageType": "std_msgs/msg/String",
"topic": "/speech",
"payloadMapping": {
"type": "transform",
"transformFn": "transformToAnimation"
"transformFn": "transformToEmotionalSpeech"
}
},
"implementation": {
@@ -1542,14 +1532,14 @@
"topic": "/speech",
"messageType": "std_msgs/msg/String",
"messageTemplate": {
"data": "^start(animations/Stand/Gestures/{{animation}})"
"data": "{{text}}"
}
}
},
{
"id": "open_hand_wave",
"name": "Open Hand Wave",
"description": "Wave with open palm gesture",
"description": "Raise arm with open palm",
"category": "movement",
"icon": "hand",
"timeout": 2500,
@@ -1559,21 +1549,25 @@
"properties": {}
},
"ros2": {
"messageType": "std_msgs/msg/String",
"topic": "/speech",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"topic": "/joint_angles",
"payloadMapping": {
"type": "static",
"payload": {
"data": "^start(animations/Stand/Gestures/Open_1)"
"joint_names": ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw"],
"joint_angles": [0.8, -0.2, -1.5, -0.1, 0.0],
"speed": 0.3
}
}
},
"implementation": {
"type": "ros2_topic",
"topic": "/speech",
"messageType": "std_msgs/msg/String",
"topic": "/joint_angles",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"messageTemplate": {
"data": "^start(animations/Stand/Gestures/Open_1)"
"joint_names": ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw"],
"joint_angles": [0.8, -0.2, -1.5, -0.1, 0.0],
"speed": 0.3
}
}
},
@@ -1590,21 +1584,25 @@
"properties": {}
},
"ros2": {
"messageType": "std_msgs/msg/String",
"topic": "/speech",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"topic": "/joint_angles",
"payloadMapping": {
"type": "static",
"payload": {
"data": "^start(animations/Stand/Gestures/ShowSole_1)"
"joint_names": ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"],
"joint_angles": [0.5, -0.8, -0.5, 0.0],
"speed": 0.3
}
}
},
"implementation": {
"type": "ros2_topic",
"topic": "/speech",
"messageType": "std_msgs/msg/String",
"topic": "/joint_angles",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"messageTemplate": {
"data": "^start(animations/Stand/Gestures/ShowSole_1)"
"joint_names": ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"],
"joint_angles": [0.5, -0.8, -0.5, 0.0],
"speed": 0.3
}
}
},
@@ -1621,21 +1619,25 @@
"properties": {}
},
"ros2": {
"messageType": "std_msgs/msg/String",
"topic": "/speech",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"topic": "/joint_angles",
"payloadMapping": {
"type": "static",
"payload": {
"data": "^start(animations/Stand/Gestures/Show_1)"
"joint_names": ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"],
"joint_angles": [0.3, -0.5, -1.0, -0.2],
"speed": 0.3
}
}
},
"implementation": {
"type": "ros2_topic",
"topic": "/speech",
"messageType": "std_msgs/msg/String",
"topic": "/joint_angles",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"messageTemplate": {
"data": "^start(animations/Stand/Gestures/Show_1)"
"joint_names": ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"],
"joint_angles": [0.3, -0.5, -1.0, -0.2],
"speed": 0.3
}
}
},
@@ -1687,21 +1689,25 @@
"properties": {}
},
"ros2": {
"messageType": "std_msgs/msg/String",
"topic": "/speech",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"topic": "/joint_angles",
"payloadMapping": {
"type": "static",
"payload": {
"data": "^start(animations/Stand/Gestures/Gesture_You_1)"
"joint_names": ["RElbowRoll", "RElbowYaw", "RShoulderPitch", "RShoulderRoll"],
"joint_angles": [-1.5, 0.3, 1.5, 0.2],
"speed": 0.2
}
}
},
"implementation": {
"type": "ros2_topic",
"topic": "/speech",
"messageType": "std_msgs/msg/String",
"topic": "/joint_angles",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"messageTemplate": {
"data": "^start(animations/Stand/Gestures/Gesture_You_1)"
"joint_names": ["RElbowRoll", "RElbowYaw", "RShoulderPitch", "RShoulderRoll"],
"joint_angles": [-1.5, 0.3, 1.5, 0.2],
"speed": 0.2
}
}
},